Sequencing of multi-robot behaviors using reinforcement learning
Pietro Pierpaoli1
Thinh T.Doan2
Justin Romberg1
Magnus Egerstedt3
1.School of Electrical and Computer Engineering,Georgia Institute of Technology,Atlanta,GA 30332,USA2.Department of Electrical and Computer Engineering,Virginia Tech,Blacksburg,VA 24061,USA3.Samueli School of Engineering,University of California,Irvine,CA 92697,USA
摘要：Given a collection of parameterized multi-robot controllers associated with individual behaviors designed for particular tasks,this paper considers the problem of how to sequence and instantiate the behaviors for the purpose of completing a more complex,overarching mission.In addition,uncertainties about the environment or even the mission specifications may require the robots to learn,in a cooperative manner,how best to sequence the behaviors.In this paper,we approach this problem by using reinforcement learning to approximate the solution to the computationally intractable sequencing problem,combined with an online gradient descent approach to selecting the individual behavior parameters,while the transitions among behaviors are triggered automatically when the behaviors have reached a desired performance level relative to a task performance cost.To illustrate the effectiveness of the proposed method,it is implemented on a team of differential-drive robots for solving two different missions,namely,convoy protection and object manipulation.
机标关键词：
论文发表日期：2021-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：9( 529-537 )
英文信息